Design of 3 DoF and 6 DoF Force and Moment Balanced Manipulators Based on the Spatial Pantograph Linkage

Design and Validation of Ungrounded Wrist Perturbator Based On Parallel Mechanism

The compliance (stiffness) of a human arm varies, depending on the task at hand. Some precise tasks require high stiffness, while others need a level of flexibility to deal with unknown disturbances. To describe this human behaviour a portable device is needed to give small force perturbations (input) while the resulting reaction of the arm ...

Higher-order derivatives of rigid body dynamics with application to the dynamic balance of spatial linkages

Dynamic balance eliminates the fluctuating reaction forces and moments induced by high-speed robots that would otherwise cause undesired base vibrations, noise and accuracy loss. Many balancing procedures, such as the addition of counter-rotating inertia wheels, increase the complexity and motor torques. There exist, however, a small set of...

Performance evaluation of the RYSEN: a 3D overground body weight support system

Body weight support (BWS) systems are widely used in gait rehabilitation. These systems allow patients to gradually increase training intensity and promote independent walking. Currently, there is no standardized method to assess the performance of BWS systems. This work proposes methods and metrics that can be used to assess and compare any...

Parallel manipulators with two end-effectors: Getting a grip on Jacobian-based stiffness analysis

Robots that are developed for applications which require a high stiffness-over-inertia ratio, such as pick-and-place robots, machining robots, or haptic devices, are often based on parallel manipulators. Parallel manipulators connect an end-effector to an inertial base using multiple serial kinematic chains. This architecture enables the design...